四旋翼飞行器控制系统设计及可视化仿真  

Design and Visual Simulation of Quadrotor Control System

作　　者：马鑫源 李燕燕 梁雅雯 张勇[1] 陈琦[1] MA Xinyuan;LI Yanyan;LIANG Yawen;ZHANG Yong;CHEN Qi(School of Information Engineering,Tianjin University of Commerce,Tianjin 300134,China)

机构地区：[1]天津商业大学信息工程学院

出　　处：《软件工程》2020年第2期29-33,共5页Software Engineering

基　　金：2018年国家级大学生创新创业训练计划项目“基于无人机的气体污染源监测定位系统设计”（项目编号：201810069047）研究成果

摘　　要：直接对四旋翼飞行器控制系统进行调试,极易引发危险,严重时还会造成人员伤害,针对目前多采用数值仿真验证方法难以直接展示控制效果问题,本文设计一种基于Matlab/SimMechanics软件的四旋翼飞行器飞行控制可视化仿真系统,首先,基于Simulink完成了四旋翼飞行器控制系统设计,然后采用PID控制算法实现了四旋翼飞行器飞行状态直观姿态和飞行数据分析功能,最后通过仿真可以得出结论,所设计的四旋翼飞行器控制可视化仿真系统通过三维可视化窗口,可实时完成四旋翼飞行器实时控制算法演示和仿真,具有重要的应用价值。The direct debugging of the four rotor vehicle control system could easily cause danger and personal injury.In view of the problem that it is difficult to directly display the control effect by using the numerical simulation verification method at present,a visual simulation system of the four rotor vehicle flight control based on MATLAB/SimMechanics software was designed in this paper.Firstly,the four rotor vehicle flight control system was designed based on Simulink,and then the PID control algorithm was used to realize the Intuitive attitude for flight status and flight data analysis function of the four rotor vehicle.Finally,through the simulation,it could be draw a conclusion that the visual control simulation system of four rotor vehicle could achieve the real-time control algorithm demonstration and simulation of the four rotor vehicle through the three-dimensional visualization window,which is of great application value.

关 键 词：四旋翼飞行器 SIMMECHANICS 可视化仿真系统 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]